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JRM Vol.34 No.3 pp. 654-663
doi: 10.20965/jrm.2022.p0654
(2022)

Paper:

Self-Localization of Mobile Robot Based on Beacon Beam of TOF Laser Sensor Mounted on Pan-Tilt Actuator: Estimation Method that Combines Spot Coordinates on Laser Receiver and Odometry

Ryoji Miura, Daichi Usagawa, Keigo Noguchi, Satoshi Iwaki, and Tetsushi Ikeda

Hiroshima City University
3-4-1 Ozukahigashi, Asaminami, Hiroshima City, Hiroshima 731-3194, Japan

Received:
May 20, 2021
Accepted:
March 25, 2022
Published:
June 20, 2022
Keywords:
time-of-flight (TOF) laser distance sensor, pan-tilt actuator, real world clicker, estimation of self-position and attitude
Abstract

We propose a method for estimating the position and attitude of a mobile robot using a laser beam. To this end, we employ the real-world clicker, which was developed by the authors and consisted of a system that uses a TOF (time of flight) laser sensor mounted on a pan-tilt actuator to measure the three-dimensional position of the laser spot. A laser receiver was mounted on top of the mobile robot, and the position of the laser spot was measured by both the camera installed below the receiver and real-world clicker. We propose an algorithm that allows the estimation of the robot’s self-position and attitude while the robot is in motion by combining the use of odometry, and validate it through simulations and experiments.

Robot and setup used in experiment

Robot and setup used in experiment

Cite this article as:
R. Miura, D. Usagawa, K. Noguchi, S. Iwaki, and T. Ikeda, “Self-Localization of Mobile Robot Based on Beacon Beam of TOF Laser Sensor Mounted on Pan-Tilt Actuator: Estimation Method that Combines Spot Coordinates on Laser Receiver and Odometry,” J. Robot. Mechatron., Vol.34 No.3, pp. 654-663, 2022.
Data files:
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